mbos_test - Testing [Andrew L] mbos RTOS for mbed Simply by …

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nikos chalikias / Mbed 2 deprecated mbos_test

Testing [Andrew L] mbos RTOS for mbed Simply by copying code for main.cpp from mbos.h-comments

mbos_asm.s@0:a61d29450691, 2011-05-05 (annotated)

Committer:: chalikias
Date:: Thu May 05 07:34:12 2011 +0000
Revision:: 0:a61d29450691

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User	Revision	Line number	New contents of line
chalikias	0:a61d29450691	1	;***********************************************************************************
chalikias	0:a61d29450691	2	; m b o s R T O S F O R m b e d (ARM CORTEX M3)
chalikias	0:a61d29450691	3	;
chalikias	0:a61d29450691	4	; Copyright (c) 2010 - 2011 Andrew Levido
chalikias	0:a61d29450691	5	;
chalikias	0:a61d29450691	6	; THIS SOFTWARE IS PROVIDED BY THE AUTHOR "AS IS" AND ANY EXPRESS OR IMPLIED
chalikias	0:a61d29450691	7	; WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
chalikias	0:a61d29450691	8	; MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
chalikias	0:a61d29450691	9	; SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
chalikias	0:a61d29450691	10	; EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
chalikias	0:a61d29450691	11	; OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
chalikias	0:a61d29450691	12	; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
chalikias	0:a61d29450691	13	; STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
chalikias	0:a61d29450691	14	; OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
chalikias	0:a61d29450691	15
chalikias	0:a61d29450691	16	EXPORT _startos
chalikias	0:a61d29450691	17	EXPORT SVC_Handler
chalikias	0:a61d29450691	18	EXPORT PendSV_Handler
chalikias	0:a61d29450691	19	EXPORT _swap
chalikias	0:a61d29450691	20
chalikias	0:a61d29450691	21	EXTERN _tasklist
chalikias	0:a61d29450691	22	EXTERN _tasklistsize
chalikias	0:a61d29450691	23	EXTERN _stackerror
chalikias	0:a61d29450691	24	EXTERN _hardstacklimit
chalikias	0:a61d29450691	25
chalikias	0:a61d29450691	26	ID_OFFSET equ 0 ; 0 word (0byte) offset
chalikias	0:a61d29450691	27	STACK_OFFSET equ 4 ; 1 word (4byte) offset
chalikias	0:a61d29450691	28	PRIO_OFFSET equ 8 ; 2 word (8byte) offset
chalikias	0:a61d29450691	29	LIMIT_OFFSET equ 20 ; 5 word (20byte) offset
chalikias	0:a61d29450691	30
chalikias	0:a61d29450691	31	AREA \|.text\|, CODE, READONLY, ALIGN=3
chalikias	0:a61d29450691	32	PRESERVE8
chalikias	0:a61d29450691	33
chalikias	0:a61d29450691	34	; Function to invoke an SVC exception to start 1st task ----------------------------------
chalikias	0:a61d29450691	35	_startos
chalikias	0:a61d29450691	36	svc 0 ; Initiate a system call to start the first task
chalikias	0:a61d29450691	37	bx lr ; Return (should never happen!)
chalikias	0:a61d29450691	38	ALIGN
chalikias	0:a61d29450691	39
chalikias	0:a61d29450691	40	; Function to initiate a SetPend Exception to swap tasks ---------------------------------
chalikias	0:a61d29450691	41	_swap
chalikias	0:a61d29450691	42	mov r0, #0xe000e000 ; Base address of ICSR
chalikias	0:a61d29450691	43	ldr r1, [r0, #0x0d04] ; Read ICSR
chalikias	0:a61d29450691	44	orr r1, #0x10000000 ; Set setPend bit
chalikias	0:a61d29450691	45	str r1, [r0, #0xd04] ; write back to ICSR
chalikias	0:a61d29450691	46	bx lr
chalikias	0:a61d29450691	47	ALIGN
chalikias	0:a61d29450691	48
chalikias	0:a61d29450691	49	; Main task switching and scheduling functions -------------------------------------------
chalikias	0:a61d29450691	50	PendSV_Handler ; entered here as handler for context switch
chalikias	0:a61d29450691	51	cpsid i ; disable interrupts
chalikias	0:a61d29450691	52	; save context of running task (that not saved by exception entry)
chalikias	0:a61d29450691	53	mrs r0, msp
chalikias	0:a61d29450691	54	stmdb r0!, {r4-r11}
chalikias	0:a61d29450691	55	; store the sp in the tcb
chalikias	0:a61d29450691	56	ldr r1, =_tasklist
chalikias	0:a61d29450691	57	ldr r1, [r1]
chalikias	0:a61d29450691	58	ldr r1, [r1]
chalikias	0:a61d29450691	59	str r0, [r1, #STACK_OFFSET]
chalikias	0:a61d29450691	60	; check for stack overflow against task limit
chalikias	0:a61d29450691	61	ldr r2, [r1, #LIMIT_OFFSET]
chalikias	0:a61d29450691	62	cmp r0, r2
chalikias	0:a61d29450691	63	bls stackerror
chalikias	0:a61d29450691	64	; check for stack overflow against hard limit
chalikias	0:a61d29450691	65	ldr r2, =_hardstacklimit
chalikias	0:a61d29450691	66	ldr r2, [r2]
chalikias	0:a61d29450691	67	cmp r0, r2
chalikias	0:a61d29450691	68	bls stackerror
chalikias	0:a61d29450691	69	SVC_Handler ; entered here as handler for 1st task start
chalikias	0:a61d29450691	70	cpsid i ; Disable interrupts
chalikias	0:a61d29450691	71	; sort the task list
chalikias	0:a61d29450691	72	ldr r5, =_tasklist ; r5 = _tasklist[i] where i = 0
chalikias	0:a61d29450691	73	ldr r5, [r5]
chalikias	0:a61d29450691	74	ldr r9, =_tasklistsize ; byte offset of last item in tasklist
chalikias	0:a61d29450691	75	ldr r9, [r9]
chalikias	0:a61d29450691	76	add r9, r5 ; outer loop limit
chalikias	0:a61d29450691	77	sub r10, r9, #4 ; inner loop limit
chalikias	0:a61d29450691	78	outerloop
chalikias	0:a61d29450691	79	ldr r1, [r5] ; r8 = _tasklist[i]->priostate
chalikias	0:a61d29450691	80	ldr r8, [r1, #PRIO_OFFSET]
chalikias	0:a61d29450691	81	mov r7, r5 ; k = i
chalikias	0:a61d29450691	82	add r6, r5, #4 ; j = i + 1
chalikias	0:a61d29450691	83	innerloop
chalikias	0:a61d29450691	84	ldr r0, [r6] ; r0 = _tasklist[j]->priostate
chalikias	0:a61d29450691	85	ldr r0, [r0, #PRIO_OFFSET]
chalikias	0:a61d29450691	86	cmp r0, r8 ; r0 - r8
chalikias	0:a61d29450691	87	bcc innerlooptest ; branch if r8 higher
chalikias	0:a61d29450691	88	; found bigger or same!
chalikias	0:a61d29450691	89	mov r7, r6 ; k = j
chalikias	0:a61d29450691	90	mov r8, r0 ; r8 = _tasklist[j]->priostate
chalikias	0:a61d29450691	91	innerlooptest
chalikias	0:a61d29450691	92	add r6, #4 ; j++
chalikias	0:a61d29450691	93	cmp r6, r9 ; r6 - r9 (j - inner limit)
chalikias	0:a61d29450691	94	bls innerloop ; branch if r9 lower or same
chalikias	0:a61d29450691	95	; swap
chalikias	0:a61d29450691	96	ldr r0, [r5]
chalikias	0:a61d29450691	97	ldr r1, [r7]
chalikias	0:a61d29450691	98	str r1, [r5]
chalikias	0:a61d29450691	99	str r0, [r7]
chalikias	0:a61d29450691	100	outerlooptest
chalikias	0:a61d29450691	101	add r5, #4 ; i++
chalikias	0:a61d29450691	102	cmp r5, r10 ; r5 - r10 (i - outer limit)
chalikias	0:a61d29450691	103	bls outerloop ; branch if r10 is lower or same
chalikias	0:a61d29450691	104	; restore the context (that not restored by the exception exit) ---------------------
chalikias	0:a61d29450691	105	ldr r0, =_tasklist ; get the sp from the TCB
chalikias	0:a61d29450691	106	ldr r0, [r0]
chalikias	0:a61d29450691	107	ldr r0, [r0]
chalikias	0:a61d29450691	108	ldr r0, [r0, #STACK_OFFSET]
chalikias	0:a61d29450691	109	ldmia r0!,{r4-r11} ; pop the stack
chalikias	0:a61d29450691	110	msr msp, r0 ; and put the sp away
chalikias	0:a61d29450691	111	cpsie i ; re-enable interrupts
chalikias	0:a61d29450691	112	; Force a return from exception and the restoration of the rest of the regs
chalikias	0:a61d29450691	113	bx lr
chalikias	0:a61d29450691	114	; A stack error has occurred
chalikias	0:a61d29450691	115	stackerror
chalikias	0:a61d29450691	116	ldr r0, [r1, #ID_OFFSET] ; get id of task into r0
chalikias	0:a61d29450691	117	bl.w _stackerror ; call the C function
chalikias	0:a61d29450691	118	_donothing
chalikias	0:a61d29450691	119	bl _donothing
chalikias	0:a61d29450691	120	ALIGN
chalikias	0:a61d29450691	121	END

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	05 May 2011
Imports:	50
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	6

mbos_asm.s@0:a61d29450691, 2011-05-05 (annotated)

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